CN104457570B - A kind of strand location measurement method - Google Patents

A kind of strand location measurement method Download PDF

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CN104457570B
CN104457570B CN201410709973.2A CN201410709973A CN104457570B CN 104457570 B CN104457570 B CN 104457570B CN 201410709973 A CN201410709973 A CN 201410709973A CN 104457570 B CN104457570 B CN 104457570B
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strand
laser
measurement result
measurement
measured
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CN104457570A (en
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桑建伟
丛壮
鲍刚枫
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BEIJING ZHONGYUANTONG SCIENCE AND TECHNOLOGY CO LTD
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BEIJING ZHONGYUANTONG SCIENCE AND TECHNOLOGY CO LTD
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Abstract

The present invention relates to field of steel-making, discloses a kind of strand location measurement method, and it first measures the position of strand using laser optical method and videographic measurment method independently of one another, obtains respective measurement result respectively;Laser optical method measures the position of strand using laser range finder, and videographic measurment method is compared the respective measurement result of laser optical method and videographic measurment method, passed through the final measurement that ruling algorithm obtains the position of strand using the position of video camera measurement strand.Measurement accuracy of the invention to strand position is high, strong antijamming capability.

Description

A kind of strand location measurement method
Technical field
The present invention relates to steelmaking technical field, more particularly to strand position in a kind of continuous casting production process high accuracy from Dynamic measuring method.
Background technology
Generally it is referred to as more than 3 using continuous casting technology production slab, general strand flakiness ratio in steel industry at present Slab.
Molten iron is smelted into qualified molten steel by converter or electric furnace, and molten steel is cast into continuous casting billet by conticaster. Still in red heat state when continuous casting billet goes out casting machine.For the ease of transporting and follow-up production, continuous casting billet needs to be cut into specified Length.The device for performing cutting is usually flame cutting machine (abbreviation fire cuts machine), and " length specified " is referred to as scale.One As in the case of, continuous casting billet is needed by cutting twice process, is that cutting (referred to as all) for the first time and second of cutting are (simple respectively Two are claimed to cut).All are that continuous casting billet is cut into the longer female base of length, and two to cut be that female base after all cuttings is continued to cut It is cut into the sub- base of the shorter fritter of length.If scale is longer, female base may also be cut and direct ejection without two.In ordinary circumstance Under, the steel billet after cutting is rolled into satisfactory steel plate by milling train, and steel plate is exactly final finished product.
In the cutting process of strand, increased the benefit to reduce cost, it is necessary to strictly control the cutting accuracy of strand.Casting There is larger overgauge compared with scale in base physical length, then causes to waste;Occur larger minus deviation then cause useless base and Loss is bigger.For all, the Cutting Length of female base is accurately controlled;Cut for two, accurately to control cutting for each piece of sub- base Cut length.
Whether all or two cut, in order to improve the measurement accuracy of strand and then improve cutting accuracy, technical staff thinks Various measuring methods are gone out.Measuring method common at present has:Hammer method, measurement roller method, videographic measurment method are touched, was occurred again in recent years Laser optical method.Touch hammer method and measurement roller is owned by France in contact measurement method, measurement apparatus is needed with casting in measurement process Base directly contacts;And videographic measurment method and laser optical method belong to contactless measurement, measurement apparatus does not have thing with strand Reason contact.
It is that hammer is touched in specified location placement one in strand direction of advance to touch hammer method, has a sensing to open touching inside hammer Close, when strand base head reach specified location near and bump against touch hammer after can trigger inductive switch action, inductive switch so outwards Portion sends an electric signal, and fire, which is cut after machine receives the signal, starts follow-up cutting flow.Fire cut machine and touch hammer between away from From the length for being exactly required scale.The shortcomings that measuring method one is that measurement accuracy is relatively low, error typically can more than 20 millimeters, Shortcoming two is to need to adjust the position for touching hammer when changing scale, is not suitable for being replaced as frequently as scale.
Measurement roller method is that a measurement roller is installed between conticaster and cutter device, has a disk and strand on roller Lower surface is physically contacted, and an encoder is mounted with the axle of measurement roller.When strand moves forward and backward, strand can drive disk Rotate and then drive encoder to rotate, so as to which encoder can provide the distance of strand movement.Because the device and hot base directly connect Touch, so needing to cool down measurement roller arrangement.Secondly as strand is active movement and disk is passive rotation, if Therebetween move and asynchronous measurement error so just occurs.3rd, because encoder has accumulated error, so needing to disappear Except the influence of accumulated error.The measurement accuracy of roller is measured typically at 20 millimeters to 40 millimeters.
Camera method is continuously shot the image of strand using video camera, and strand base head or base tail position are detected from image The image coordinate at place, then it can be calculated really according to the corresponding relation of image coordinate in strand physical location and image Strand position.The advantages of camera method is that cost is low, and measurement apparatus does not contact directly with strand, shortcoming be measurement accuracy easily by The illumination condition of environment and the influence of strand temperature, it is often necessary to which brightness of the operating personnel to image is adjusted.Camera method Measurement accuracy is typically in 0 to 40 millimeters.
Laser optical method measures the position of strand using laser range finder.Laser range finder launches beam of laser direct irradiation To testee surface, laser can be reflected back toward laser range finder.Laser range finder is according to transmitting laser and receives reflected signal Elapsed time difference calculates testee the distance between to laser range finder, can be calculated by certain conversion tested The physical location of object.The measurement accuracy of laser optical method is very high, typically in -1 to+1 millimeter.Laser ranging method lacks Point is susceptible to the interference of water vapour, and the interference of water smoke is very big in the case that especially environment temperature is relatively low in the winter time, causes There is very big error with actual capabilities for the result that this method is measured.
Steel industry is badly in need of a kind of measurement accuracy height, the strand location measurement method of strong antijamming capability at present.
The content of the invention
(1) technical problems to be solved
It is an object of the invention to provide a kind of measurement accuracy height, the strand location measurement method of strong antijamming capability.
(2) technical scheme
In order to solve the above-mentioned technical problem, the present invention provides a kind of strand location measurement method, using laser optical method and Videographic measurment method first measures the position of strand independently of one another, obtains respective measurement result respectively;Laser optical method is using sharp Optar measures the position of strand, and videographic measurment method is continuously measured the position of strand using video camera, compares laser optical method With the respective measurement result of videographic measurment method, pass through the final measurement of the position of ruling algorithm acquirement strand;First set Effective fluctuation range of one measurement result, if the measurement result of laser optical method is within the scope of effectively fluctuation, recognize It is effective to determine the measurement result of laser optical method, and the measurement result of videographic measurment method is invalid, final measurement result is Laser Measuring The measurement result of amount method;If the measurement result of laser optical method is in outside effective fluctuation range, laser optical method is assert Measurement result it is invalid, and the measurement result of videographic measurment method is effective, and final measurement result is the measurement knot of videographic measurment method Fruit.
Wherein, the laser optical method comprises the following steps:
S1, strand is arranged on roller-way, the direction of motion of strand is identical with the direction of motion of roller-way, the base head end of strand Face or base breech face are end face to be measured, and the position of the end face to be measured is the position of strand;
S2, the flame cutting machine being arranged on roller-way cut rifle provided with two, the flame cutting machine is parked in original position, with two Origin of the midpoint of the line of the individual central point for cutting rifle muzzle as coordinate system, coordinate is used as using the moving direction of strand Positive direction;
S3, laser range finder is arranged on the direction that strand is moved along roller-way, and the laser range finder is sent Laser beam it is parallel with the moving direction of strand or in an angle, enable the laser beam direct irradiation in the casting The end face to be measured of base;
S4, the flame cutting machine is parked in original position, calibration device is placed on roller-way so that the calibration device is in institute State between flame cutting machine and laser range finder, measure between the first scaling board of the calibration device and the second scaling board away from From, and the first scaling board is measured to the distance of origin, then read laser range finder and send swashing for laser the first scaling board of irradiation Light length and laser irradiate the laser length of the second scaling board;
S5, the end face to be measured that laser irradiates the strand is sent using the laser range finder, read the laser ranging Laser length of the instrument to the end face to be measured of strand;
S6, according to formula:E=L1/ (D1-D2) calculates the cosine value of the angle;Wherein:E is the cosine value of angle; L1 is the distance between the first scaling board and the second scaling board;D1 is the laser length that laser is irradiated on the first scaling board;D2 The laser length on the second scaling board is irradiated to for laser;
S7, according to formula:L=L2+D1*E calculates the coordinate of the internal reference point of laser range finder;Wherein:L is described The coordinate of laser range finder, L2 are the coordinate of the first scaling board;
S8, according to formula:L4=L-L3=L-D*E calculates the position of strand;Wherein:L4 is the position of strand, and D is sharp Optar is irradiated to the laser length of the strand, and L3 is projections of the D in reference axis.
Wherein, the videographic measurment method includes:In the side of strand or video camera installed above, enable video camera straight Connect the end face to be measured for being irradiated to strand;Camera acquisition finds strand to after the image of strand by edge detection algorithm The end face to be measured image coordinate, then go out by calibration algorithm backwards calculation the world coordinates of end face to be measured described in strand, The world coordinates is exactly strand physical location.
Wherein, the ruling algorithm comprises the following steps:
S1, it is set to X1, the measurement result of videographic measurment method for same tested strand, the measurement result of laser optical method X2 is set to, ruling is carried out to two measurement results X1 and X2, final measurement result is set to X3;
S2, using the measurement result X2 of videographic measurment method as benchmark, the error range of a given permission is set to E1 and E2, And E1 is less than E2, it is specified that scope is X1 allowable fluctuation range from (X2+E1) to (X2+E2), compare X1 and scope (X2+E1) Relation between (X2+E2), assert that final measurement X3 is equal to X1 if X1 is among the scope, that is, assert laser The measurement result X1 of mensuration is effective and the measurement result X2 of videographic measurment method is invalid;Otherwise assert that final measurement X3 is equal to X2, that is, assert laser optical method measurement result X1 is invalid and the measurement result X2 of videographic measurment method is effective.
(3) beneficial effect
Compared with prior art, the present invention has advantages below:
A kind of strand location measurement method provided by the invention, it is each independent first with laser optical method and videographic measurment method Ground measures the position of strand, obtains respective measurement result respectively, recycles ruling algorithm to obtain the final survey of the position of strand Measure result;By the way that laser optical method and videographic measurment method are combined, two methods are made to complement each other collaborative work so as to survey Accuracy of measurement is high, strong antijamming capability, disclosure satisfy that the demand of current steel industry.
Brief description of the drawings
Fig. 1 is the schematic diagram of the laser range finder measurement strand base head in a kind of strand location measurement method of the present invention;
Fig. 2 is the schematic diagram of the laser range finder measurement strand base tail in a kind of strand location measurement method of the present invention;
Fig. 3 is the schematic diagram that a kind of strand location measurement method of the present invention uses two-point method Calibration of Laser rangefinder;
Fig. 4 is the operation principle schematic diagram that laser range finder measures strand base head in Fig. 1;
Fig. 5 is the schematic diagram of the video camera measurement strand position in a kind of strand location measurement method of the present invention;
Fig. 6 is a two field picture of the strand that the camera acquisition in a kind of strand location measurement method of the present invention arrives;
Fig. 7 is a kind of overall schematic of strand location measurement method of the present invention.
In figure:1:Flame cutting machine;2:Cut rifle;3:Strand;4:Roller-way;5:Laser range finder;6:Laser range finder is sent Laser beam;7:The moving direction of strand;8:Video camera;9:First scaling board;10:Second scaling board;11:Data processing list Member.
Embodiment
With reference to the accompanying drawings and examples, the embodiment of the present invention is described in further detail.Following instance For illustrating the present invention, but it is not limited to the scope of the present invention.
In the description of the invention, it is necessary to explanation, term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ", The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer " are Based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than instruction or dark Show that the device of meaning or element there must be specific orientation, with specific azimuth configuration and operation, thus it is it is not intended that right The limitation of the present invention.In addition, term " first ", " second ", " the 3rd " etc. be only used for describe purpose, and it is not intended that instruction or Imply relative importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected;Can To be mechanical connection or electrical connection;Can be joined directly together or be indirectly connected by intermediary, can be with It is the connection of two element internals.For the ordinary skill in the art, concrete condition can be regarded and understands above-mentioned term Concrete meaning in the present invention.
As shown in fig. 7, it is a kind of strand location measurement method provided by the invention.Utilize laser optical method and videographic measurment Method first measures the position of strand 3 independently of one another, obtains respective measurement result respectively.Laser optical method uses laser range finder The base head of 5 measurement strands 3 or the position of base tail, the laser range finder 5 is arranged on roller-way 4 or the outside of roller-way 4.Shooting is surveyed Amount method continuously measures the base head of strand 3 or the position of base tail using video camera 8, and the figure of strand 3 is obtained by edge detection algorithm As coordinate, the world coordinates of strand 3 is calculated according to the corresponding relation of image coordinate and world coordinates, obtains the reality of strand 3 Position.Compare the respective measurement result of laser optical method and videographic measurment method, the position of strand 3 is obtained by ruling algorithm Final measurement.On the basis of the measurement result of videographic measurment method, effective fluctuation range of a measurement result is first set;Such as The measurement result of fruit laser optical method is within the scope of effectively fluctuation, then assert that the measurement result of laser optical method is effective, and The measurement result of videographic measurment method is invalid, and final measurement result is the measurement result of laser optical method;If laser optical method Measurement result be in outside effective fluctuation range, then assert that the measurement result of laser optical method is invalid, and videographic measurment method Measurement result is effective, and final measurement result is the measurement result of videographic measurment method.Using the measuring method, measurement accuracy is high, Strong antijamming capability.
Wherein, the measurement of the laser optical method specifically comprises the following steps:
S1, as depicted in figs. 1 and 2, strand 3 is arranged on roller-way 4, the moving direction 7 of strand and the motion side of roller-way 4 To identical, the base end surface or base breech face of strand 3 are end face to be measured, and the position of the end face to be measured is the position of strand 3 Put;
S2, as shown in Figure 3 and Figure 4, the flame cutting machine 1 being arranged on roller-way 3 cuts rifle 2 provided with two, makes the flame Cutting machine is parked in original position, the midpoint of the line of the central point to cut the muzzle of rifle 2 described in two as coordinate system origin O, with casting Positive direction of the moving direction 7 of base as coordinate;
S3, as shown in figure 4, laser range finder 5 is arranged on the direction that strand 3 moved along roller-way 4, and described to swash The laser beam 6 that optar 5 is sent is parallel with the moving direction 7 of strand or in an included angle A, it is preferable that makes the laser The moving direction 7 of light 6 and the strand is in an included angle A, it is preferable that the angle of the included angle A is less than or equal to 30 degree, makes described Laser beam 6 can direct irradiation in the end face to be measured of the strand 3;The angle of the laser range finder 5 and its Coordinate position is the external parameter of the laser range finder 5, can be calculated and obtained by calibration algorithm;
S4, as shown in figure 3, making the flame cutting machine 1 be parked in original position, calibration device is placed on roller-way 4 so that described Calibration device is between flame cutting machine 1 and laser range finder 5, measures the first scaling board 9 and the second mark of the calibration device The distance between fixed board 10 L1, and measure the first scaling board 9 arrive origin distance L2, then read laser range finder 5 send it is sharp The laser length D1 and laser of the first scaling board of light irradiation 9 irradiate the laser length D2 of the second scaling board 10;
S5, as shown in figure 4, send the end face to be measured that laser irradiates the strand 3 using the laser range finder 5, The laser range finder 5 is read to the laser length of the end face to be measured of strand 3;
S6, the angle A due to the angle are changeless, so its cosine value cos (A) is also constant, take angle Degree coefficient E is allowed to be equal to cos (A), according to formula:E=L1/ (D1-D2) calculates the coefficient of angularity;Wherein:E is angle system Number;L1 is the distance between the first scaling board 9 and the second scaling board 10;D1 is the laser that laser is irradiated on the first scaling board 9 Length;D2 is the laser length that laser is irradiated on the second scaling board 10;
S7, according to formula:L=L2+D1*E calculates the coordinate of laser range finder 5;Wherein:L is the laser range finder Coordinate, L2 is the coordinate of the first scaling board 9, and D1 is that laser is irradiated to laser length on the first scaling board 9, and E is angle system Number;
S8, according to formula:L4=L-L3=L-D*E calculates the position of strand;Wherein:L4 be strand position, D be from Laser range finder 5 arrives the distance between strand 3, and L3 is projections of the D in reference axis, and E is coefficient of angularity.
As shown in figure 5, the measurement process of the videographic measurment method is included in the side of strand 3 or video camera installed above 8, video camera 8 is shone directly into the end face to be measured of strand 3;Strand 3 is continuously taken pictures using video camera 8, so as to The a series of images (as shown in Figure 5) of strand 3 is obtained, after video camera 8 collects the image of strand 3, passes through edge detection algorithm The image coordinate of the end face to be measured of strand is found, then goes out by calibration algorithm backwards calculation the world of the end face to be measured of strand and sits Mark, the world coordinates is exactly the physical location of strand 3.
Wherein, the ruling algorithm comprises the following steps:
S1, it is set to X1, the measurement knot of videographic measurment method for same tested strand 3, the measurement result of laser optical method Fruit is set to X2, carries out ruling to two measurement results X1 and X2, final measurement result is set to X3;
S2, using the measurement result X2 of videographic measurment method as benchmark, the error range of a given permission is set to E1 and E2, And E1 is set to be less than E2, it is preferable that it is -20 millimeters to take E1, takes E2 for+20 millimeters, it is specified that scope is from (X2+E1) to (X2+E2) X1 allowable fluctuation range, compare X1 and scope (X2+E1) to the relation between (X2+E2), if X1 is among the scope Then assert that final measurement X3 is equal to X1, that is, assert the measurement result X1 effectively measurements of videographic measurment method of laser optical method As a result X2 is invalid;Otherwise assert that final measurement X3 is equal to X2, i.e. the measurement result X1 of identification laser optical method is invalid and takes the photograph As the measurement result X2 of mensuration is effective.
As shown in fig. 7, the video camera 8 and laser range finder 5 are connected with such as computer of data processing unit 11 respectively, lead to Crossing the progress of data processing unit 11 data, IMAQ and processing, the data processing unit 11 can realize from cardon As collection and processing, processing procedure is quick, and result is accurate, reliable.
The present invention combines laser optical method and videographic measurment method, two methods is complemented each other collaborative work, makes Measurement accuracy height, strong antijamming capability are obtained, disclosure satisfy that the demand of current steel industry.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention God any modification, equivalent substitution and improvements made etc., should be included in the scope of the protection with principle.

Claims (4)

1. a kind of strand location measurement method, it is characterised in that first independently of one another using laser optical method and videographic measurment method The position of strand is measured, obtains respective measurement result respectively;Laser optical method measures the position of strand using laser range finder, Videographic measurment method compares laser optical method and the respective measurement knot of videographic measurment method using the position of video camera measurement strand Fruit, the final measurement of the position of strand is obtained by ruling algorithm;Effective fluctuation range of a measurement result is first set, If the measurement result of laser optical method is within the scope of effectively fluctuation, assert that the measurement result of laser optical method is effective, And the measurement result of videographic measurment method is invalid, final measurement result is the measurement result of laser optical method;If laser measurement The measurement result of method is in outside effective fluctuation range, then assert that the measurement result of laser optical method is invalid, and videographic measurment method Measurement result it is effective, final measurement result is the measurement result of videographic measurment method.
2. strand location measurement method as claimed in claim 1, it is characterised in that the laser optical method includes following step Suddenly:
S1, strand is arranged on roller-way, the direction of motion of strand is identical with the direction of motion of roller-way, the base end surface of strand or Person's base breech face is end face to be measured, and the position of the end face to be measured is the position of strand;
S2, the flame cutting machine being arranged on roller-way cut rifle provided with two, the flame cutting machine is parked in original position, with two institutes Origin of the midpoint as coordinate system of the line for the central point for cutting rifle muzzle is stated, the pros of coordinate are used as using the moving direction of strand To;
S3, laser range finder is arranged on the direction that strand is moved along roller-way, and causes what the laser range finder sent to swash Light light is parallel with the moving direction of strand or in an angle, enables the laser beam direct irradiation in the strand The end face to be measured;
S4, the flame cutting machine is parked in original position, calibration device is placed on roller-way so that the calibration device is in the fire Between flame cutting machine and the laser range finder, measure between the first scaling board of the calibration device and the second scaling board away from From, and first scaling board is measured to the distance of origin, then read the laser range finder and send the mark of laser irradiation first The laser length and laser of fixed board irradiate the laser length of the second scaling board;
S5, the end face to be measured that laser irradiates the strand is sent using the laser range finder, read the laser ranging Laser length of the instrument to the end face to be measured of strand;
S6, according to formula:E=L1/ (D1-D2) calculates the cosine value of the angle;Wherein:E is the cosine value of angle;L1 is The distance between first scaling board and the second scaling board;D1 is the laser length that laser is irradiated on the first scaling board;D2 is sharp Illumination is mapped to the laser length on the second scaling board;
S7, according to formula:L=L2+D1*E calculates the coordinate of laser range finder;Wherein:L is the seat of the laser range finder Mark, L2 are the coordinate of the first scaling board;
S8, according to formula:L4=L-L3=L-D*E calculates the position of strand;Wherein:L4 is the position of strand, and D is Laser Measuring Distance meter is irradiated to the laser length of the strand, and L3 is projections of the D in reference axis.
3. strand location measurement method as claimed in claim 2, it is characterised in that the measurement of the videographic measurment method is included in The side or above installation video camera of strand, enables video camera to shine directly into the end face to be measured of strand;Video camera After the image for collecting strand, the image coordinate of the end face to be measured of strand is found by edge detection algorithm, then passes through mark Determine the world coordinates that algorithm backwards calculation goes out the end face to be measured of strand, the world coordinates is exactly the reality of strand end face to be measured Border position.
4. strand location measurement method as claimed in claim 1, it is characterised in that the ruling algorithm comprises the following steps:
S1, X1 is set to for same tested strand, the measurement result of laser optical method, the measurement result of videographic measurment method is set to X2, ruling is carried out to two measurement results X1 and X2, final measurement result is set to X3;
S2, using the measurement result X2 of videographic measurment method as benchmark, the error range of a given permission is set to E1 and E2, and makes E1 is less than E2, it is specified that scope is X1 allowable fluctuation range from X2+E1 to X2+E2, compare X1 and scope X2+E1 to X2+E2 it Between relation, assert that final measurement X3 is equal to X1 if X1 is among the scope, that is, assert the survey of laser optical method Amount result X1 is effective and the measurement result X2 of videographic measurment method is invalid;Otherwise assert that final measurement X3 is equal to X2, that is, assert The measurement result X1 of laser optical method is invalid and the measurement result X2 of videographic measurment method is effective.
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CN110193645B (en) * 2018-02-24 2021-04-13 宝山钢铁股份有限公司 Accurate positioning method for continuous casting slab secondary cutting
CN109238154A (en) * 2018-09-27 2019-01-18 东华理工大学 A kind of Con casting ladle wall thickness measurement method based on laser scaling ranging
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